CN114056534B - Auxiliary control system for marine steering engine and control method thereof - Google Patents
Auxiliary control system for marine steering engine and control method thereof Download PDFInfo
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- CN114056534B CN114056534B CN202111201910.2A CN202111201910A CN114056534B CN 114056534 B CN114056534 B CN 114056534B CN 202111201910 A CN202111201910 A CN 202111201910A CN 114056534 B CN114056534 B CN 114056534B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
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Abstract
The utility model provides a marine steering wheel auxiliary control system, including the steering wheel unit, the steering wheel control system, the shipborne data integrated system, auxiliary control system, the shipborne data integrated system includes boats and ships speed of a ship acquisition module, auxiliary control system includes steering wheel spare car module, steering wheel spare car module and the signal output part of boats and ships speed of a ship acquisition module, steering wheel control system signal connection, steering wheel control system and steering wheel unit signal connection, when this system moves, carry out the alarm to the steering wheel unit through steering wheel spare car module in proper order and detect, detect the helm function of steering wheel unit under the follow-up mode, detect the helm function of steering wheel unit under the non-follow-up mode, detect the helm function of steering wheel unit under the corresponding emergency mode steering wheel, if each item detects all through then indicate that the spare car is accomplished. The automatic detection and confirmation of the steering engine standby vehicle function before the ship sails can be realized by the design, so that an auxiliary decision function is provided for steering personnel, and misoperation of the personnel is avoided.
Description
Technical Field
The invention belongs to the technical field of control of marine steering engines, and particularly relates to an auxiliary control system for a marine steering engine and a control method thereof, which are suitable for avoiding safety accidents caused by misoperation of personnel.
Background
When a ship is at a low navigational speed or in an emergency, the selection of a steering strategy mainly comes from the personal steering experience of a crew, and the safety accident of the ship is easily caused by illegal operation or misoperation of the crew, so that a ship steering engine auxiliary control system which can provide an auxiliary decision making function for the crew in the low navigational speed or in the emergency is lacked.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a marine steering engine auxiliary control system and a control method thereof, wherein the marine steering engine auxiliary control system can provide an auxiliary decision function for a steering person and avoid misoperation of the steering person.
In order to realize the purpose, the invention provides the following technical scheme:
a marine steering engine auxiliary control system comprises a steering engine unit, a steering engine control system and a shipborne data integration system, wherein the steering engine unit is in signal connection with the steering engine control system;
the control system further comprises an auxiliary control system, the auxiliary control system comprises a steering engine standby vehicle module, the shipborne data integration system comprises a ship speed acquisition module, the steering engine standby vehicle module is in signal connection with a signal output end of the ship speed acquisition module and a steering engine control system, the steering engine standby vehicle module is used for sequentially carrying out alarm detection on the steering engine unit according to the current ship speed, detecting the steering function of the steering engine unit in a follow-up mode, detecting the steering function of the steering engine unit in a non-follow-up mode and detecting the steering function of the steering engine unit in an emergency mode, and if all the detection is passed, the standby vehicle is indicated to be completed.
The auxiliary control system further comprises a steering speed adjusting module, the steering speed adjusting module is in signal connection with the signal output end of the ship speed acquisition module and the steering engine control system, and the steering speed adjusting module is used for adjusting the steering speed according to the current ship speed.
The auxiliary control system further comprises a steering angle limiting module, the steering angle limiting module is in signal connection with the signal output end of the ship speed acquisition module and the steering engine control system, and the steering angle limiting module is used for limiting a steering angle according to the current ship speed.
The auxiliary control system further comprises a unit switching module, the unit switching module is in signal connection with the steering engine control system, and the unit switching module is used for switching the working unit and the backup unit in the steering engine unit according to the health state of the unit.
The auxiliary control system further comprises a rudder angle resetting module, the shipborne data integrated system further comprises a ship host state acquisition module, the rudder angle resetting module is in signal connection with a signal output end of the ship speed acquisition module, a signal output end of the ship host state acquisition module and a steering engine control system, and the rudder angle resetting module is used for achieving automatic rudder angle resetting according to the current ship speed, the current ship host state and the current rudder angle state.
A control method of a marine steering engine auxiliary control system comprises steering engine spare vehicle control, and the steering engine spare vehicle control sequentially comprises the following steps:
a1, powering on a steering engine unit, judging whether the current ship speed is zero or not by a steering engine standby vehicle module after receiving a steering engine standby vehicle control starting signal, if so, entering the step A2, and if not, stopping the standby vehicle;
a2, the steering engine spare vehicle module sends a spare vehicle preparation instruction to a steering engine control system, the steering engine control system judges whether the steering engine control system is ready after receiving the spare vehicle preparation instruction, if yes, the steering engine control system sends the spare vehicle preparation instruction to the steering engine spare vehicle module, and if not, the spare vehicle is stopped;
a3, after receiving a standby vehicle ready instruction, the steering engine standby vehicle module judges whether the steering engine set has alarm information at present, if no alarm information exists, the steering engine standby vehicle module indicates that the alarm detection is finished and enters the step A4, and if the alarm information exists, the steering engine standby vehicle module stops the standby vehicle;
a4, the steering engine standby vehicle module sends a follow-up mode test instruction to a steering engine control system, the steering engine control system receives the follow-up mode test instruction and then tests the steering function of the steering engine unit in the follow-up mode and judges whether the test result is qualified or not, if the test result is qualified, a follow-up mode function test completion signal is sent to the steering engine standby vehicle module, and if the test result is unqualified, the standby vehicle is stopped;
a5, the steering engine spare vehicle module sends a non-follow-up mode test instruction to the steering engine control system after receiving a follow-up mode function test completion signal, the steering engine control system tests the steering function of the steering engine unit in the non-follow-up mode after receiving the non-follow-up mode test instruction and judges whether the test result is qualified or not, if the test result is qualified, the non-follow-up mode function test completion signal is sent to the steering engine spare vehicle module, and if the test result is not qualified, the spare vehicle is stopped;
a6, the steering engine standby vehicle module sends an emergency mode test instruction to the steering engine control system after receiving a non-follow-up mode function test completion signal, the steering engine control system tests the steering function of the steering engine unit in an emergency mode after receiving the emergency mode test instruction and judges whether a test result is qualified or not, if the test result is qualified, the steering engine standby vehicle module sends emergency mode function test completion information to the steering engine standby vehicle module, then the steering engine standby vehicle module prompts that standby vehicle is completed, and if the test result is unqualified, the standby vehicle is stopped.
The auxiliary control system also comprises a steering speed adjusting module, and the steering speed adjusting module is in signal connection with the signal output end of the ship speed acquisition module and the steering engine control system;
the control method also comprises steering speed adjustment control, which sequentially comprises the following steps:
b1, in the normal sailing process of the ship, continuously judging whether the current ship speed is continuously less than the preset speed minimum value T for N times by the steering speed adjusting module after receiving the steering speed adjusting control starting signal 1 Kn, if N times of succession are all less than the minimum value of the navigational speed, entering step B2, if not, continuing to judge;
and B2, the steering speed adjusting module calculates to obtain an ideal motor rotating speed value of the steering engine unit according to the current ship speed, and then sends the ideal motor rotating speed value and a steering speed adjusting signal to the steering engine control system, and the steering engine control system adjusts the steering speed according to the received ideal motor rotating speed value and the steering speed adjusting signal.
The auxiliary control system also comprises a steering angle limiting module, and the steering engine control system is in signal connection with the signal output end of the ship speed acquisition module and the steering engine control system;
the control method further comprises a steering angle limit control, which comprises the following steps in sequence:
c1, in the normal navigation process of the ship, judging whether the current ship speed is continuously greater than the preset maximum speed T or not by the helm angle limiting module after receiving a helm angle limiting control starting signal by the helm angle limiting module 2 If the Kn is positive, entering a step C2, and if not, continuing to judge;
and C2, the steering angle limiting module sends a preset steering angle limiting value and a steering angle limiting signal to a steering engine control system, and the steering engine control system limits the steering angle according to the received steering angle limiting value and the steering angle limiting signal.
The auxiliary control system also comprises a unit switching module, and the unit switching module is in signal connection with the steering engine control system;
the control method also comprises unit switching control, and the unit switching control sequentially comprises the following steps:
d1, in the normal sailing process of a ship, judging whether a working unit in a steering engine unit has fault alarm or sub-health alarm after a unit switching control starting signal is received by a unit switching module, if so, entering a step D2, and if not, continuously judging, wherein the fault alarm comprises motor phase failure, motor overload, frequency converter fault, low oil tank liquid level, filter blockage and steering failure, and the sub-health alarm comprises that the oil temperature exceeds an early warning value and the unit winding temperature exceeds an early warning value;
d2, the unit switching module judges whether a backup unit in the steering engine unit has a fault alarm or a sub-health alarm, if so, the working unit continues working, if not, the unit switching module sends a backup unit starting instruction to the steering engine control system, and the steering engine control system switches the backup unit to start working according to the received backup unit starting instruction.
The auxiliary control system also comprises a rudder angle resetting module, the shipborne data integration system also comprises a ship host state acquisition module, and the rudder angle resetting module is in signal connection with the signal output end of the ship speed acquisition module, the signal output end of the ship host state acquisition module and the steering engine control system;
the control method also comprises rudder angle resetting control, and the rudder angle resetting control sequentially comprises the following steps:
e1, after receiving a rudder angle resetting control starting signal, the rudder angle resetting module judges whether a ship main engine stops running and whether the current ship speed is zero according to the state of the ship main engine, if so, the ship is in a stopped state, then the step E2 is carried out, and if not, the judgment is continued;
e2, the rudder angle resetting module judges whether the current rudder angle is in a zero position, if so, the rudder angle resetting control is finished, and if not, the step E3 is executed;
and E3, the rudder angle resetting module sends a rudder angle resetting instruction to the steering engine control system, and the steering engine control system controls the rudder angle to reset to a zero position after receiving the rudder angle resetting instruction.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a marine steering engine auxiliary control system which comprises a steering engine unit, a steering engine control system, a shipborne data integration system and an auxiliary control system, wherein the auxiliary control system comprises a steering engine standby vehicle module, the shipborne data integration system comprises a ship speed acquisition module, the steering engine unit is in signal connection with the steering engine control system, the steering engine standby vehicle module is in signal connection with a signal output end of the ship speed acquisition module and the steering engine control system, and the steering engine standby vehicle module is used for sequentially carrying out alarm detection on the steering engine unit according to the current ship speed, detecting the steering function of the steering engine unit in a follow-up mode, detecting the steering function of the steering engine unit in a non-follow-up mode, detecting the steering function of the steering engine unit in an emergency mode, and indicating that the standby vehicle is finished if all the detection is passed. Therefore, the steering engine spare vehicle function automatic detection and confirmation can be realized, and manual operation is not needed.
2. The auxiliary control system in the ship steering engine auxiliary control system further comprises a steering speed adjusting module, the steering speed adjusting module is in signal connection with the signal output end of the ship speed acquisition module and the steering engine control system, and the steering speed adjusting module is used for adjusting the steering speed according to the current ship speed. Therefore, the invention can realize the automatic regulation of the steering speed at low navigational speed.
3. The auxiliary control system in the ship steering engine auxiliary control system further comprises a steering angle limiting module, the steering engine control system is in signal connection with the signal output end of the ship speed acquisition module and the steering engine control system, the steering angle limiting module can limit the steering angle according to the current ship speed, and the steering angle can be automatically adjusted when the ship speed is larger than the preset maximum speed value through the design. Therefore, the invention can realize the automatic adjustment of the steering angle at high navigational speed.
4. The auxiliary control system in the marine steering engine auxiliary control system further comprises a unit switching module, the unit switching module is in signal connection with the steering engine control system, the unit switching module is used for switching the working unit and the backup unit in the steering engine unit according to the health state of the unit, whether the working unit is in the health state or not can be judged through the design, and if the working unit is in the non-health state, the backup unit can be automatically switched to work. Therefore, the invention can realize the automatic switching between the working unit and the backup unit.
5. The auxiliary control system in the ship steering engine auxiliary control system further comprises a rudder angle resetting module, the shipborne data integration system further comprises a ship host state acquisition module, the rudder angle resetting module is in signal connection with the signal output end of the ship speed acquisition module, the signal output end of the ship host state acquisition module and the steering engine control system, and the rudder angle resetting module is used for achieving automatic rudder angle resetting according to the current ship speed, the ship host state and the rudder angle state. Therefore, the automatic resetting of the rudder angle during the parking can be realized.
Drawings
Fig. 1 is a schematic diagram of the structure of the present invention.
In the figure, a steering engine unit 1, a steering engine control system 2, an auxiliary control system 3, a steering engine spare vehicle module 31, a steering speed adjusting module 32, a steering angle limiting module 33, a unit switching module 34, a steering angle resetting module 35, a ship-borne data integration system 4, a ship speed acquisition module 41 and a ship host state acquisition module 42 are arranged.
Detailed Description
The present invention will be further described with reference to the following embodiments.
Referring to fig. 1, the auxiliary control system for the marine steering engine comprises a steering engine unit 1, a steering engine control system 2 and a shipborne data integration system 4, wherein the steering engine unit 1 is in signal connection with the steering engine control system 2;
the control system further comprises an auxiliary control system 3, the auxiliary control system 3 comprises a steering engine standby vehicle module 31, the shipborne data integration system 4 comprises a ship speed acquisition module 41, the steering engine standby vehicle module 31 is in signal connection with a signal output end of the ship speed acquisition module 41 and a steering engine control system 2, the steering engine standby vehicle module 31 is used for sequentially carrying out alarm detection on the steering engine unit 1 according to the current ship speed, detecting the steering function of the steering engine unit 1 in a follow-up mode, detecting the steering function of the steering engine unit 1 in a non-follow-up mode and detecting the steering function of the steering engine unit 1 in an emergency mode, and if all the detection is passed, the standby vehicle is indicated to be completed.
The auxiliary control system 3 further comprises a steering speed adjusting module 32, the steering speed adjusting module 32 is in signal connection with the signal output end of the ship speed collecting module 41 and the steering engine control system 2, and the steering speed adjusting module 32 is used for adjusting the steering speed according to the current ship speed.
The auxiliary control system 3 further comprises a steering angle limiting module 33, the steering angle limiting module 33 is in signal connection with the signal output end of the ship speed acquisition module 41 and the steering engine control system 2, and the steering angle limiting module 33 is used for limiting a steering angle according to the current ship speed.
The auxiliary control system 3 further comprises a unit switching module 34, the unit switching module 34 is in signal connection with the steering engine control system 2, and the unit switching module 34 is used for switching the working unit and the backup unit in the steering engine unit 1 according to the health state of the units.
The auxiliary control system 3 further comprises a rudder angle resetting module 35, the shipborne data integration system 4 further comprises a ship host state acquisition module 42, the rudder angle resetting module 35 is in signal connection with a signal output end of the ship speed acquisition module 41, a signal output end of the ship host state acquisition module 42 and the steering engine control system 2, and the rudder angle resetting module 35 is used for realizing rudder angle automatic resetting according to the current ship speed, the ship host state and the rudder angle state.
A control method of a marine steering engine auxiliary control system comprises steering engine spare vehicle control, and the steering engine spare vehicle control sequentially comprises the following steps:
a1, the steering engine unit 1 is powered on, the steering engine standby vehicle module 31 judges whether the current ship speed is zero or not after receiving a steering engine standby vehicle control starting signal, if yes, the step A2 is carried out, and if not, the standby vehicle is stopped;
a2, the steering engine standby vehicle module 31 sends a standby vehicle preparing instruction to the steering engine control system 2, the steering engine control system 2 judges whether the steering engine control system is ready after receiving the standby vehicle preparing instruction, if yes, the steering engine control system 2 sends the standby vehicle preparing instruction to the steering engine standby vehicle module 31, and if not, the standby vehicle is stopped;
a3, after receiving a standby vehicle ready instruction, the steering engine standby vehicle module 31 judges whether alarm information exists in the steering engine unit 1 at present, if no alarm information exists, the steering engine standby vehicle module indicates that alarm detection is finished and enters the step A4, and if the alarm information exists, the steering engine standby vehicle module stops standby vehicle;
a4, the steering engine spare vehicle module 31 sends a follow-up mode test instruction to the steering engine control system 2, the steering engine control system 2 tests the steering function of the steering engine unit 1 in the follow-up mode after receiving the follow-up mode test instruction and judges whether the test result is qualified, if the test result is qualified, a follow-up mode function test completion signal is sent to the steering engine spare vehicle module 31, and if the test result is unqualified, the spare vehicle is stopped;
a5, the steering engine spare vehicle module 31 sends a non-follow-up mode test instruction to the steering engine control system 2 after receiving a follow-up mode function test completion signal, the steering engine control system 2 tests the steering function of the steering engine unit 1 in the non-follow-up mode after receiving the non-follow-up mode test instruction and judges whether the test result is qualified, if so, the non-follow-up mode function test completion signal is sent to the steering engine spare vehicle module 31, and if not, the spare vehicle is stopped;
a6, the steering engine spare vehicle module 31 sends an emergency mode test instruction to the steering engine control system 2 after receiving a non-follow-up mode function test completion signal, the steering engine control system 2 tests the steering function of the steering engine unit 1 in an emergency mode after receiving the emergency mode test instruction and judges whether the test result is qualified, if the test result is qualified, the emergency mode function test completion information is sent to the steering engine spare vehicle module 31, then the steering engine spare vehicle module 31 prompts the completion of the spare vehicle, and if the test result is not qualified, the spare vehicle is stopped.
The auxiliary control system 3 further comprises a steering speed adjusting module 32, and the steering speed adjusting module 32 is in signal connection with the signal output end of the ship speed acquisition module 41 and the steering engine control system 2;
the control method further comprises steering speed adjustment control, and the steering speed adjustment control sequentially comprises the following steps:
b1, in the normal navigation process of the ship, the steering speed adjusting module 32 continuously judges whether the current ship speed is continuously less than the preset speed minimum value T for N times after receiving the steering speed adjusting control starting signal 1 If the number of times of continuous N is smaller than the minimum value of the navigational speed, entering a step B2, and if not, continuing to judge;
and B2, the steering speed adjusting module 32 calculates to obtain an ideal motor rotating speed value of the steering engine unit 1 according to the current ship speed, and then sends the ideal motor rotating speed value and a steering speed adjusting signal to the steering engine control system 2, and the steering engine control system 2 adjusts the steering speed according to the received ideal motor rotating speed value and the steering speed adjusting signal.
The auxiliary control system 3 further comprises a steering angle limiting module 33, and the steering engine control system 2 is in signal connection with the signal output end of the ship speed acquisition module 41 and the steering engine control system 2;
the control method further comprises steering angle limit control, which sequentially comprises the following steps:
c1, in the normal navigation process of the ship, the steering angle limiting module 33 judges whether the current ship navigation speed is continuously greater than the preset navigation speed maximum value T or not after receiving a steering angle limiting control starting signal 2 Kn, if yes, go to step C2, if notIf yes, continuing to judge;
and C2, the steering angle limiting module 33 sends a preset steering angle limiting value and a steering angle limiting signal to the steering engine control system 2, and the steering engine control system 2 limits the steering angle according to the received steering angle limiting value and the steering angle limiting signal.
The auxiliary control system 3 further comprises a unit switching module 34, and the unit switching module 34 is in signal connection with the steering engine control system 2;
the control method also comprises unit switching control, and the unit switching control sequentially comprises the following steps:
d1, in the normal sailing process of the ship, the unit switching module 34 judges whether a working unit in the steering engine unit 1 has fault alarm or sub-health alarm after receiving a unit switching control starting signal, if so, the step D2 is carried out, if not, the judgment is continued, wherein the fault alarm comprises motor phase failure, motor overload, frequency converter fault, low oil tank liquid level, filter blockage and steering failure, and the sub-health alarm comprises that the oil temperature exceeds an early warning value and the unit winding temperature exceeds an early warning value;
d2, the unit switching module 34 judges whether a backup unit in the steering engine unit 1 has a fault alarm or a sub-health alarm, if so, the working unit continues working, if not, the unit switching module 34 sends a backup unit starting instruction to the steering engine control system 2, and the steering engine control system 2 switches the backup unit to start working according to the received backup unit starting instruction.
The auxiliary control system 3 further comprises a rudder angle resetting module 35, the shipborne data integration system 4 further comprises a ship host state acquisition module 42, and the rudder angle resetting module 35 is in signal connection with a signal output end of the ship speed acquisition module 41, a signal output end of the ship host state acquisition module 42 and the steering engine control system 2;
the control method also comprises rudder angle resetting control, and the rudder angle resetting control sequentially comprises the following steps:
e1, after receiving a rudder angle resetting control starting signal, the rudder angle resetting module 35 judges whether the ship main engine stops running and whether the current ship speed is zero according to the state of the ship main engine, if so, the ship is in a stopped state, and then the step E2 is carried out, and if not, the judgment is continued;
e2, the rudder angle resetting module 35 judges whether the current rudder angle is in a zero position, if so, the rudder angle resetting control is finished, and if not, the step E3 is executed;
and E3, the rudder angle resetting module 35 sends a rudder angle resetting instruction to the steering engine control system 2, and the steering engine control system 2 controls the rudder angle to reset to a zero position after receiving the rudder angle resetting instruction.
The principle of the invention is illustrated as follows:
the auxiliary control system 3 in the ship steering engine auxiliary control system is arranged on an industrial personal computer on a ship, the industrial personal computer is connected with the steering engine control system 2 through an Ethernet interface, the steering engine control system 2 collects various parameters of a steering engine unit 1 and transmits the parameters to the auxiliary control system 3, the auxiliary control system 3 issues various control instructions to the steering engine control system 2, and finally, an auxiliary decision making function is achieved, such as steering engine standby, steering speed adjustment, steering angle limitation, unit switching and steering angle reset control, and ship safety accidents caused by misoperation of personnel are avoided.
Example 1:
referring to fig. 1, the auxiliary control system of the marine steering engine comprises a steering engine unit 1, a steering engine control system 2, an auxiliary control system 3 and a shipborne data integration system 4, wherein the auxiliary control system 3 comprises a steering engine spare vehicle module 31, the shipborne data integration system 4 comprises a ship speed acquisition module 41, the steering engine spare vehicle module 31 is in signal connection with a signal output end of the ship speed acquisition module 41 and the steering engine control system 2, and the steering engine control system 2 is in signal connection with the steering engine unit 1;
the control method of the marine steering engine auxiliary control system comprises steering engine spare vehicle control, and the steering engine spare vehicle control specifically comprises the following steps:
a1, after the steering engine unit 1 is powered on, manually starting a steering engine spare vehicle control starting button on a steering engine spare vehicle module 31, judging whether the current ship speed is zero or not after the steering engine spare vehicle control starting module 31 receives a steering engine spare vehicle control starting signal, if so, entering the step A2, and if not, starting ineffectively and stopping the spare vehicle;
a2, the steering engine standby vehicle module 31 sends a standby vehicle preparing instruction to the steering engine control system 2 after the ship state meets the standby vehicle condition, the steering engine control system 2 judges whether the steering engine control system is ready or not after receiving the standby vehicle preparing instruction, if yes, the steering engine control system 2 sends the standby vehicle preparing instruction to the steering engine standby vehicle module 31, and if not, the standby vehicle is stopped, wherein the standby vehicle condition comprises the safety of the peripheral environment of the ship;
a3, after receiving a standby vehicle ready instruction, the steering engine standby vehicle module 31 judges whether alarm information exists in the steering engine unit 1 at present, if no alarm information exists, the steering engine standby vehicle module indicates that alarm detection is finished and enters the step A4, and if the alarm information exists, the steering engine standby vehicle module stops standby vehicle;
a4, the steering engine spare vehicle module 31 sends a follow-up mode test instruction to the steering engine control system 2, the steering engine control system 2 tests the steering function of the steering engine unit 1 in the follow-up mode after receiving the follow-up mode test instruction and judges whether the test result is qualified, if the test result is qualified, a follow-up mode function test completion signal is sent to the steering engine spare vehicle module 31, and if the test result is unqualified, the spare vehicle is stopped;
a5, the steering engine spare vehicle module 31 sends a non-follow-up mode test instruction to the steering engine control system 2 after receiving a follow-up mode function test completion signal, the steering engine control system 2 tests the steering function of the steering engine unit 1 in the non-follow-up mode after receiving the non-follow-up mode test instruction and judges whether the test result is qualified, if so, the non-follow-up mode function test completion signal is sent to the steering engine spare vehicle module 31, and if not, the spare vehicle is stopped;
a6, the steering engine standby vehicle module 31 sends an emergency mode test instruction to the steering engine control system 2 after receiving a non-follow-up mode function test completion signal, the steering engine control system 2 tests the steering function of the steering engine unit 1 in an emergency mode after receiving the emergency mode test instruction and judges whether a test result is qualified, if the test result is qualified, the emergency mode function test completion information is sent to the steering engine standby vehicle module 31, then the steering engine standby vehicle module 31 prompts that standby vehicle is completed, and if the test result is unqualified, standby vehicle is stopped.
Example 2:
the difference from example 1 is that:
referring to fig. 1, the auxiliary control system 3 further includes a steering speed adjusting module 32, and the steering speed adjusting module 32 is in signal connection with the signal output end of the ship speed acquisition module 41 and the steering engine control system 2;
the control method further comprises steering speed adjustment control, and the steering speed adjustment control specifically comprises the following steps:
b1, in the normal sailing process of the ship, manually starting a steering speed adjusting button on a steering speed adjusting module 32, and continuously judging whether the current ship speed is continuously less than a preset speed minimum value T for N times by the steering speed adjusting module 32 after receiving a steering speed adjusting control starting signal 1 Kn, if the N times of continuous operation are less than the minimum value of the navigational speed, the step B2 is carried out, if not, the judgment is continued, wherein the minimum value of the navigational speed is 7Kn, N =3;
b2, the steering speed adjusting module 32 calculates to obtain an ideal motor rotation speed value of the steering engine unit 1 according to the current ship speed, then sends the ideal motor rotation speed value and a steering speed adjusting signal to the steering engine control system 2, and the steering engine control system 2 adjusts the motor rotation speed of the steering engine unit 1 to the ideal motor rotation speed value through a frequency converter after receiving the steering speed adjusting signal, so that steering speed adjustment is achieved.
Example 3:
the difference from example 1 is that:
referring to fig. 1, the auxiliary control system 3 further includes a steering angle limiting module 33, and the steering engine control system 2 is in signal connection with the signal output end of the ship speed acquisition module 41 and the steering engine control system 2;
the control method further comprises steering angle limiting control, wherein the steering angle limiting control specifically comprises the following steps:
c1, during normal navigation of the ship, manual work is performedStarting a steering angle limiting button on a steering angle limiting module 33, wherein the steering angle limiting module 33 judges whether the current ship speed is continuously greater than a preset speed maximum value T or not after receiving a steering angle limiting control starting signal 2 If the navigation speed is 16Kn, entering a step C2, otherwise, continuously judging, wherein the maximum navigation speed is 16Kn;
c2, the rudder turning angle limiting module 33 sends a preset rudder angle limiting value and a rudder turning angle limiting signal to the steering engine control system 2, the steering engine control system 2 limits the rudder turning angle according to the received rudder angle limiting value and rudder turning angle limiting signal, and the rudder angle limiting value is 25 degrees.
Example 4:
the difference from example 1 is that:
referring to fig. 1, the auxiliary control system 3 further includes a unit switching module 34, and the unit switching module 34 is in signal connection with the steering engine control system 2;
the control method further comprises unit switching control, and the unit switching control specifically comprises the following steps:
d1, in the normal sailing process of a ship, manually starting a unit switching button on a unit switching module 34, judging whether a fault alarm or a sub-health alarm exists in a working unit in a steering engine unit 1 after the unit switching module 34 receives a unit switching control starting signal, if so, entering a step D2, and if not, continuing to judge, wherein the fault alarm comprises motor phase failure, motor overload, frequency converter fault, low oil tank liquid level, filter blockage and steering failure, and the sub-health alarm comprises that the oil temperature exceeds an early warning value and the unit winding temperature exceeds an early warning value;
and D2, the unit switching module 34 judges whether a backup unit in the steering engine unit 1 has a fault alarm or a sub-health alarm, if so, the working unit continues working, if not, the unit switching module 34 sends a starting backup unit instruction to the steering engine control system 2, and the steering engine control system 2 switches the backup unit to start working according to the received starting backup unit instruction.
Example 5:
the difference from example 1 is that:
referring to fig. 1, the auxiliary control system 3 further includes a rudder angle resetting module 35, the shipborne data integration system 4 further includes a ship host state acquisition module 42, and the rudder angle resetting module 35 is in signal connection with a signal output end of the ship speed acquisition module 41, a signal output end of the ship host state acquisition module 42, and the steering engine control system 2;
the control method also comprises rudder angle resetting control, and the rudder angle resetting control sequentially comprises the following steps:
e1, manually starting a rudder angle reset button on a rudder angle reset module 35, judging whether a ship host stops running and the current ship speed is zero according to the state of the ship host after the rudder angle reset module 35 receives a rudder angle reset control starting signal, if so, indicating that the ship is in a stopped state, and then entering the step E2, and if not, continuing to judge;
e2, the rudder angle resetting module 35 judges whether the current rudder angle is in a zero position, if so, the rudder angle resetting control is finished, and if not, the step E3 is executed;
and E3, the rudder angle resetting module 35 sends a rudder angle resetting instruction to the steering engine control system 2, and the steering engine control system 2 controls the rudder angle to reset to a zero position after receiving the rudder angle resetting instruction.
Claims (10)
1. The utility model provides a marine steering wheel auxiliary control system, includes steering wheel unit (1), steering wheel control system (2), on-board data integrated system (4), steering wheel unit (1) and steering wheel control system (2) signal connection, its characterized in that:
the control system further comprises an auxiliary control system (3), the auxiliary control system (3) comprises a steering engine spare vehicle module (31), the shipborne data integration system (4) comprises a ship speed acquisition module (41), the steering engine spare vehicle module (31) is in signal connection with a signal output end of the ship speed acquisition module (41) and a steering engine control system (2), and the steering engine spare vehicle module (31) is used for sequentially carrying out alarm detection on the steering engine unit (1) according to the current ship speed, detecting the steering function of the steering engine unit (1) in a follow-up mode, detecting the steering function of the steering engine unit (1) in a non-follow-up mode, detecting the steering function of the steering engine unit (1) in an emergency mode, and indicating that the spare vehicle is completed if all the detection is passed.
2. The marine steering engine auxiliary control system according to claim 1, characterized in that:
the auxiliary control system (3) further comprises a steering speed adjusting module (32), the steering speed adjusting module (32) is in signal connection with the signal output end of the ship speed acquisition module (41) and the steering engine control system (2), and the steering speed adjusting module (32) is used for adjusting the steering speed according to the current ship speed.
3. The marine steering engine auxiliary control system according to claim 1 or 2, characterized in that:
the auxiliary control system (3) further comprises a steering angle limiting module (33), the steering angle limiting module (33) is in signal connection with a signal output end of the ship speed acquisition module (41) and the steering engine control system (2), and the steering angle limiting module (33) is used for limiting a steering angle according to the current ship speed.
4. The marine steering engine auxiliary control system according to claim 1 or 2, characterized in that:
the auxiliary control system (3) further comprises a unit switching module (34), the unit switching module (34) is in signal connection with the steering engine control system (2), and the unit switching module (34) is used for switching the working unit and the backup unit in the steering engine unit (1) according to the health state of the units.
5. The marine steering engine auxiliary control system according to claim 1 or 2, characterized in that:
auxiliary control system (3) still include rudder angle module (35) that resets, on-board data integrated system (4) still include boats and ships host computer state acquisition module (42), rudder angle module (35) that resets and the signal output part of boats and ships speed of a ship acquisition module (41), the signal output part of boats and ships host computer state acquisition module (42), steering wheel control system (2) signal connection, rudder angle module (35) that resets are used for realizing rudder angle automatic re-setting according to current boats and ships speed of a ship, boats and ships host computer state, rudder angle state.
6. The control method of the auxiliary control system of the marine steering engine according to claim 1, characterized by comprising the following steps:
the control method comprises steering engine spare vehicle control, which sequentially comprises the following steps:
a1, the steering engine unit (1) is powered on, the steering engine standby vehicle module (31) judges whether the current ship speed is zero or not after receiving a steering engine standby vehicle control starting signal, if yes, the step A2 is carried out, and if not, the standby vehicle is stopped;
a2, the steering engine spare vehicle module (31) sends a spare vehicle preparation instruction to the steering engine control system (2), the steering engine control system (2) judges whether the steering engine control system is ready after receiving the spare vehicle preparation instruction, if yes, the steering engine control system (2) sends the spare vehicle preparation instruction to the steering engine spare vehicle module (31), and if not, the spare vehicle is stopped;
a3, after receiving a standby vehicle ready instruction, the steering engine standby vehicle module (31) judges whether alarm information exists in the steering engine unit (1) at present, if no alarm information exists, the steering engine standby vehicle module indicates that alarm detection is finished and enters the step A4, and if the alarm information exists, the steering engine standby vehicle module stops standby vehicle;
a4, the steering engine spare vehicle module (31) sends a follow-up mode test instruction to the steering engine control system (2), the steering engine control system (2) tests the steering function of the steering engine unit (1) in the follow-up mode after receiving the follow-up mode test instruction and judges whether the test result is qualified, if so, a follow-up mode function test completion signal is sent to the steering engine spare vehicle module (31), and if not, the spare vehicle is stopped;
a5, the steering engine spare vehicle module (31) sends a non-follow-up mode test instruction to the steering engine control system (2) after receiving a follow-up mode function test completion signal, the steering engine control system (2) tests the steering function of the steering engine unit (1) in the non-follow-up mode after receiving the non-follow-up mode test instruction and judges whether the test result is qualified, if so, the non-follow-up mode function test completion signal is sent to the steering engine spare vehicle module (31), and if not, the spare vehicle is stopped;
a6, the steering engine spare vehicle module (31) sends an emergency mode test instruction to the steering engine control system (2) after receiving a non-follow-up mode function test completion signal, the steering engine control system (2) tests the steering function of the steering engine unit (1) in an emergency mode after receiving the emergency mode test instruction and judges whether the test result is qualified or not, if the test result is qualified, the emergency mode function test completion information is sent to the steering engine spare vehicle module (31), then the steering engine spare vehicle module (31) prompts the spare vehicle to be completed, and if the test result is unqualified, the spare vehicle is stopped.
7. The control method of the auxiliary control system of the marine steering engine according to claim 6, wherein the control method comprises the following steps:
the auxiliary control system (3) further comprises a steering speed adjusting module (32), and the steering speed adjusting module (32) is in signal connection with the signal output end of the ship speed acquisition module (41) and the steering engine control system (2);
the control method further comprises steering speed adjustment control, and the steering speed adjustment control sequentially comprises the following steps:
b1, in the normal navigation process of the ship, continuously judging whether the current ship speed is continuously less than the preset speed minimum value T for N times by the steering speed adjusting module (32) after receiving a steering speed adjusting control starting signal 1 Kn, if N times of succession are all less than the minimum value of the navigational speed, entering step B2, if not, continuing to judge;
b2, the steering speed adjusting module (32) calculates according to the current ship speed to obtain an ideal motor rotating speed value of the steering engine unit (1), then sends the ideal motor rotating speed value and a steering speed adjusting signal to the steering engine control system (2), and the steering engine control system (2) adjusts the steering speed according to the received ideal motor rotating speed value and the steering speed adjusting signal.
8. The control method of the auxiliary control system of the marine steering engine according to claim 6 or 7, characterized in that:
the auxiliary control system (3) further comprises a steering angle limiting module (33), and the steering engine control system (2) is in signal connection with the signal output end of the ship speed acquisition module (41) and the steering engine control system (2);
the control method further comprises a steering angle limit control, which comprises the following steps in sequence:
c1, in the normal navigation process of the ship, the steering angle limiting module (33) judges whether the current ship speed is continuously greater than the preset maximum speed T or not after receiving the steering angle limiting control starting signal 2 If the Kn is positive, entering a step C2, and if not, continuing to judge;
c2, the steering angle limiting module (33) sends a preset steering angle limiting value and a steering angle limiting signal to the steering engine control system (2), and the steering engine control system (2) limits the steering angle according to the received steering angle limiting value and the steering angle limiting signal.
9. The control method of the auxiliary control system of the marine steering engine according to claim 6 or 7, characterized in that:
the auxiliary control system (3) further comprises a unit switching module (34), and the unit switching module (34) is in signal connection with the steering engine control system (2);
the control method also comprises unit switching control, and the unit switching control sequentially comprises the following steps:
d1, in the normal sailing process of the ship, the unit switching module (34) judges whether a fault alarm or a sub-health alarm exists in a working unit in the steering engine unit (1) or not after receiving a unit switching control starting signal, if yes, the step D2 is carried out, if not, the judgment is continued, wherein the fault alarm comprises motor phase failure, motor overload, frequency converter faults, low oil tank liquid level, filter blockage and steering failure, and the sub-health alarm comprises that the oil temperature exceeds an early warning value and the unit winding temperature exceeds an early warning value;
d2, the unit switching module (34) judges whether a backup unit in the steering engine unit (1) has fault alarm or sub-health alarm, if yes, the working unit continues working, if not, the unit switching module (34) sends a backup unit starting instruction to the steering engine control system (2), and the steering engine control system (2) switches the backup unit to start working according to the received backup unit starting instruction.
10. The control method of the auxiliary control system of the marine steering engine according to claim 6 or 7, characterized in that:
the auxiliary control system (3) further comprises a rudder angle resetting module (35), the shipborne data integration system (4) further comprises a ship host state acquisition module (42), and the rudder angle resetting module (35) is in signal connection with a signal output end of the ship speed acquisition module (41), a signal output end of the ship host state acquisition module (42) and the steering engine control system (2);
the control method also comprises rudder angle resetting control, and the rudder angle resetting control sequentially comprises the following steps:
e1, after receiving a rudder angle reset control starting signal, the rudder angle reset module (35) judges whether the ship host stops running and whether the current ship speed is zero according to the state of the ship host, if so, the ship is in a stopped state, then the step E2 is carried out, and if not, the judgment is continued;
e2, the rudder angle resetting module (35) judges whether the current rudder angle is in a zero position, if so, the rudder angle resetting control is finished, and if not, the step E3 is executed;
e3, the rudder angle resetting module (35) sends a rudder angle resetting instruction to the steering engine control system (2), and the steering engine control system (2) controls the rudder angle to reset to a zero position after receiving the rudder angle resetting instruction.
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| CN105947165A (en) * | 2016-05-23 | 2016-09-21 | 哈尔滨工程大学 | Ship rudder machine system and rudder steering control method thereof |
| GB201715761D0 (en) * | 2017-09-28 | 2017-11-15 | A P Moller-Maersk As | A method and system for operating a ship |
| CN109466738B (en) * | 2018-11-08 | 2019-12-10 | 武汉船用机械有限责任公司 | marine steering engine and control method thereof |
| CN109484605A (en) * | 2018-11-22 | 2019-03-19 | 武汉船用机械有限责任公司 | A kind of efficient ship steering method |
| CN110920848A (en) * | 2019-11-27 | 2020-03-27 | 西安中车永电电气有限公司 | Pure battery ship full-rotation rudder propeller system and suspension type electric propulsion and control system |
| CN212022947U (en) * | 2020-04-27 | 2020-11-27 | 南京瑞奇电器设备有限公司 | Steering engine electric control system |
| CN112810790B (en) * | 2021-01-26 | 2022-04-22 | 武汉船用机械有限责任公司 | Electric steering engine and using method thereof |
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